Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof

ABSTRACT

The present disclosure relates to adapter assemblies for use with and to electrically and mechanically interconnect electromechanical surgical devices and surgical loading units, and to surgical systems including hand held electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the hand held electromechanical surgical devices.

TECHNICAL FIELD

The present disclosure relates to adapter assemblies for use in surgical systems. More specifically, the present disclosure relates to adapter assemblies for use with and to electrically and mechanically interconnect electromechanical surgical devices and surgical loading units, and to surgical systems including hand held electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the hand held electromechanical surgical devices.

BACKGROUND

A number of surgical device manufacturers have developed product lines with proprietary powered drive systems for operating and/or manipulating the surgical device. In many instances the surgical devices include a powered handle assembly, which is reusable, and a disposable end effector or the like that is selectively connected to the powered handle assembly prior to use and then disconnected from the end effector following use in order to be disposed of or in some instances sterilized for re-use.

Many of the existing end effectors for use with many of the existing powered surgical devices and/or handle assemblies are driven by a linear force. For examples, end effectors for performing endo-gastrointestinal anastomosis procedures, end-to-end anastomosis procedures and transverse anastomosis procedures, each typically require a linear driving force in order to be operated. As such, these end effectors are not compatible with surgical devices and/or handle assemblies that use a rotary motion to deliver power or the like.

In order to make the linear driven end effectors compatible with powered surgical devices and/or handle assemblies that use a rotary motion to deliver power, adapters and/or adapter assemblies are used to interface between and interconnect the linear driven end effectors with the powered rotary driven surgical devices and/or handle assemblies. Many of these adapter and/or adapter assemblies are complex devices including many parts and requiring extensive labor to assemble. Accordingly, a need exists to develop adapters and/or adapter assemblies that incorporate fewer parts, are less labor intensive to assemble, and are ultimately more economical to manufacture.

SUMMARY

The present disclosure relates to adapter assemblies for use with and to electrically and mechanically interconnect electromechanical surgical devices and surgical loading units, and to surgical systems including hand held electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the hand held electromechanical surgical devices.

According to an aspect of the present disclosure, an adapter assembly for selectively interconnecting a surgical loading unit that is configured to perform a function and a surgical device that is configured to actuate the surgical loading unit, the surgical loading unit including an axially translatable drive member, and the surgical device including a plurality of rotatable drive shafts, is provided.

The adapter assembly includes a housing configured and adapted for connection with the surgical device and to be in operative communication with each rotatable drive shaft of the plurality of rotatable drive shafts of the surgical device. An outer tube has a proximal end supported by the housing and a distal end configured and adapted for connection with the surgical loading unit. The distal end of the outer tube is in operative communication with the axially translatable drive member of the surgical loading unit. The outer tube defines a longitudinal axis. The outer tube can include a distal housing assembly configured and adapted to engage a proximal end of the surgical loading unit.

An articulation assembly includes a gimbal supported in the outer tube and a plurality of threaded sleeves supported in the housing. The plurality of threaded sleeves is coupled to the gimbal by at least one cable. In embodiments, the plurality of threaded sleeves is supported on at least one threaded screw. Rotation of at least one of the plurality of rotatable drive shafts of the surgical device translates at least two of the plurality of threaded sleeves to omni-directionally articulate the gimbal relative to the longitudinal axis of the outer tube with the at least one cable. Articulation of the gimbal articulates the surgical loading unit about the distal end of the outer tube. The gimbal can include a distal flange configured and adapted to engage the distal housing assembly to enable the surgical loading unit to articulate in response to movement of the gimbal. In embodiments, the gimbal defines at least one slot in an outer surface thereof. The at least one cable is secured within the at least one slot.

The adapter assembly includes a firing shaft having a proximal end configured and adapted to couple to at least one of the plurality of rotatable drive shafts of the surgical device and a distal end configured and adapted to couple to the axially translatable drive member of the surgical loading unit to enable firing of the surgical loading unit.

In embodiments, the firing shaft is configured and adapted to transmit a rotational force through the gimbal to effectuate axially translation of the axially translatable drive member and fire the surgical loading unit. In some embodiments, the firing shaft includes a proximal firing shaft and a distal firing shaft. The proximal and distal firing shafts can be coupled together within the gimbal such that the distal firing shaft is movable relative to the proximal firing shaft. The proximal firing shaft can include a ball member on a distal end thereof and the distal firing shaft can include a socket on a proximal end thereof. The socket defines a socket bore and the ball member of the proximal firing shaft can be mounted within the socket bore.

In some embodiments, the gimbal defines a gimbal bore therethrough configured and adapted to receive the distal firing shaft such that the gimbal and the distal firing shaft are movable about an outer surface of the ball member.

In embodiments, the at least one threaded screw includes a first set of threads and a second set of threads. The first and second set of threads can be threaded in opposite directions. A first one of the plurality of threaded sleeves can be threadably engaged with the first set of threads and a second one of the plurality of threaded sleeves can be threadably engaged with the second set of threads. Rotation of the at least one threaded screw in a first rotational direction can approximate the first one and the second one of the plurality of threaded sleeves. Rotation of the at least one threaded screw in a second rotational direction can separate the first one and the second one of the plurality of threaded sleeves.

In embodiments, a firing trigger is secured to the adapter assembly. The firing trigger can be secured to the housing.

According to another aspect of the present disclosure, an electromechanical surgical system is provided. The electromechanical surgical system includes a surgical loading unit including at least one axially translatable drive member and a handle-held electromechanical surgical device. The handle-held electromechanical surgical device includes a housing and at least one rotatable drive shaft supported in the housing.

An adapter assembly is selectively connectable between the housing of the surgical device and the surgical loading unit. The adapter assembly includes an articulation assembly and a firing shaft.

The articulation assembly includes a gimbal and a plurality of threaded sleeves. The plurality of threaded sleeves is coupled to the gimbal by at least one cable. The plurality of threaded sleeves is movable to articulate the gimbal with the at least one cable. Articulation of the gimbal articulates the surgical loading unit.

The firing shaft is connectable between the at least one rotatable drive shaft of the surgical device and the at least one axially translatable drive member. The firing shaft is movable with the gimbal to omni-directionally articulate the surgical loading unit and rotatable to translate the at least one axially translatable drive member through the surgical loading unit.

According to another aspect of the present disclosure, a method of articulating a surgical loading unit operatively coupled to a surgical device by an adapter is provided. The method includes rotating at least one rotatable drive shaft of the surgical device to rotate at least one threaded screw supported within the adapter and axially translate a plurality of threaded sleeves along the at least one threaded screw, translating a plurality of cables secured between the plurality of threaded sleeves and a gimbal, and articulating the gimbal with the plurality of cables to articulate the surgical loading unit relative to adapter. The method can involve rotating a firing shaft to fire the surgical loading unit.

Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiment(s) given below, serve to explain the principles of the disclosure, wherein:

FIG. 1A is a perspective view of an electromechanical surgical system in accordance with the principles of the present disclosure;

FIG. 1B is an enlarged, perspective view of the indicated area of detail shown in FIG. 1A;

FIG. 2 is an enlarged, perspective view of an adapter assembly of the electromechanical surgical system of FIG. 1A;

FIG. 3 is an enlarged, perspective view of a distal portion of the adapter assembly of FIG. 2;

FIG. 4 is a bottom, cross-sectional view the adapter assembly of FIG. 2, as taken along line 4-4 of FIG. 2, illustrating an articulation assembly thereof in a first condition;

FIG. 5 is a side, perspective view, with parts separated, of a proximal portion of the adapter assembly of FIG. 2;

FIG. 6 is front, perspective view of the proximal portion of the adapter assembly of FIG. 2, as taken along line 6-6 of FIG. 4;

FIG. 7 is an enlarged, side perspective view of a portion of the articulation assembly and a portion of a firing assembly, with the articulation assembly shown in the first condition;

FIG. 8 is an enlarged, bottom perspective view of a section of the portion of the articulation assembly shown in FIG. 7;

FIG. 9 is an enlarged, cross-sectional, bottom view of the indicated area of detail shown in FIG. 4, with the articulation assembly being shown in a second condition;

FIG. 10 is an enlarged, perspective view, with parts separated, of the distal portion of the adapter assembly shown in FIG. 3;

FIG. 11 is an enlarged, perspective view of a gimbal of the articulation assembly;

FIG. 12 is an enlarged, side, perspective view of the distal portion of the adapter assembly shown in FIG. 3, with portions thereof removed for clarity, the distal portion of the adapter assembly being shown in an non-articulated condition;

FIG. 13 is an enlarged, front, perspective view of a distal portion of the articulation assembly;

FIG. 14 is a side, cross-sectional view of the adapter assembly of FIG. 2, as taken along line 14-14 of FIG. 2;

FIG. 15 is an enlarged, side, cross-sectional view of the indicated area of detail shown in FIG. 14;

FIG. 16 is an enlarged, bottom, cross-sectional view of the indicated area of detail shown in FIG. 4;

FIG. 17 is an enlarged, perspective view, with parts separated, of a surgical loading unit of the electromechanical surgical system of FIG. 1A;

FIGS. 18A and 18B are progressive, side, perspective views illustrating a proximal portion of a surgical loading unit of the electromechanical surgical system of FIG. 1A being secured to the distal portion of the adapter assembly shown in FIG. 3;

FIG. 19 is an enlarged, front, perspective view of the distal end portion of the adapter assembly of FIG. 3, the distal end portion of the adapter assembly being shown in an articulated condition;

FIG. 20 is an enlarged, rear, perspective view of the distal end portion of the adapter assembly of FIG. 3 with portions thereof removed for clarity, the distal end portion of the adapter assembly being shown in the articulated condition;

FIG. 21 is an enlarged, front, perspective view of a portion of the electromechanical surgical system of FIG. 1A, the surgical loading unit thereof being shown in the articulated condition;

FIG. 22 is a side, perspective view, with parts separated, of a proximal portion of another embodiment adapter assembly in accordance with the present disclosure; and

FIG. 23 is a side, cross-sectional view of the proximal portion of the adapter assembly of FIG. 22.

DETAILED DESCRIPTION

Electromechanical surgical systems of the present disclosure include surgical devices in the form of powered hand held electromechanical instruments configured for selective attachment to a plurality of different end effectors that are each configured for actuation and manipulation by the powered hand held electromechanical surgical instrument. In particular, the presently described electromechanical surgical systems include adapter assemblies that interconnect the powered hand held electromechanical surgical instruments to the plurality of different end effectors. Each adapter assembly includes an articulation assembly that is operatively coupled to a powered hand held electromechanical surgical instrument for effectuating actuation and/or manipulation thereof. The articulation assembly includes one or more cables that interconnect a gimbal and two or more threaded sleeves. The gimbal couples to one of the plurality of end effectors such that axial movement of the threaded sleeves moves the one or more cables to rotate the gimbal and effectuate articulation of the end effector about a distal end of the adapter assembly.

Embodiments of the presently disclosed electromechanical surgical systems, surgical devices/handle assemblies, adapter assemblies, and/or loading units are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the system, assembly, device, and/or component thereof, farther from the user, while the term “proximal” refers to that portion of the system, assembly, device, and/or component thereof, closer to the user.

Turning now to FIGS. 1A and 1B, an electromechanical surgical system, in accordance with the present disclosure, generally referred to as 10, includes a surgical device 100 in the form of a powered hand held electromechanical instrument, an adapter assembly 200, and a loading unit 300 (e.g., an end effector, multiple- or single-use loading unit). Surgical device 100 is configured for selective connection with adapter assembly 200, and, in turn, adapter assembly 200 is configured for selective connection with loading unit 300. Together, surgical device 100 and adapter assembly 200 may cooperate to actuate loading unit 300.

Surgical device 100 includes a handle housing 102 including a circuit board (not shown) and a drive mechanism (not shown) situated therein. The circuit board is configured to control the various operations of surgical device 100. Handle housing 102 defines a cavity therein (not shown) for selective removable receipt of a rechargeable battery (not shown) therein. The battery is configured to supply power to any of the electrical components of surgical device 100.

Handle housing 102 includes an upper housing portion 102 a which houses various components of surgical device 100, and a lower hand grip portion 102 b extending from upper housing portion 102 a. Lower hand grip portion 102 b may be disposed distally of a proximal-most end of upper housing portion 102 a. The location of lower housing portion 102 b relative to upper housing portion 102 a is selected to balance a weight of a surgical device 100 that is connected to or supporting adapter assembly 200 and/or loading unit 300.

Handle housing 102 provides a housing in which the drive mechanism is situated. The drive mechanism is configured to drive shafts and/or gear components in order to perform the various operations of surgical device 100. In particular, the drive mechanism is configured to drive shafts and/or gear components in order to selectively articulate loading unit 300 about a longitudinal axis “X” and relative to a distal end of adapter assembly 200, to selectively rotate loading unit 300 about longitudinal axis “X” and relative to handle housing 102, to selectively move/approximate/separate an anvil assembly 310 and a cartridge assembly 320 of loading unit 300 relative to one another, and/or to fire a stapling and cutting cartridge within cartridge assembly 320 of loading unit 300.

Handle housing 102 defines a connection portion 104 configured to accept a proximal end of adapter assembly 200. Connection portion 104 houses a trigger contact surface 105 in electrical communication with the circuit board and a plurality of rotatable drive shafts or connectors 106. Each rotatable drive shaft of the plurality of rotatable drive shafts can be independently, and/or dependently, actuatable and rotatable by the drive mechanism (not shown) housed within housing handle 102. In embodiments, the plurality of rotatable drive shafts 106 includes rotatable drive shafts, 106 a, 106 b, 106 c, 106 d, and 106 e arranged in a common plane or line with one another. As can be appreciated, the plurality of rotatable drive shafts can be arranged in any suitable configuration. The drive mechanism may be configured to selectively drive one of the rotatable drive shafts 106 of surgical instrument 100, at a given time.

Handle housing 102 supports a plurality of finger-actuated control buttons, rocker devices and the like for activating various functions of surgical device 100. For example, handle housing 102 supports a plurality of actuators including, for example, an articulating pad such as articulating pad 108, to effectuate articulation of end effector 300 as will be described in greater detail below. Articulating pad 108 is configured to contact a plurality of sensors 108 a that cooperate with articulating pad 108 to enable omni-directional articulation of loading unit 300 relative to adapter assembly 200. In embodiments, one or more of the plurality of sensors 108 a correspond to different yaw and/or pitch angles, relative to longitudinal axis “X,” to which loading unit 300 can be moved, upon activation of one or more of the plurality of sensors 108 a in response to depression of different portions of articulating pad 108. Handle housing 102 can support actuators 107 a, 107 b, which as will be described in great detail below, can be disposed in electrical communication with rotatable drive shafts 106 d, 106 e for actuation thereof to enable adjustment of one or more of the components of adapter assembly 200. Any of the presently described actuators can have any suitable configuration (e.g., button, knob, toggle, slide etc.)

Reference may be made to International Application No. PCT/US2008/077249, filed Sep. 22, 2008 (Inter. Pub. No. WO 2009/039506), and U.S. Patent Application Publication No. 2011/0121049, filed on Nov. 20, 2009, the entire contents of each of which being incorporated herein by reference, for a detailed description of various internal components of and operation of exemplary electromechanical surgical systems, the components of which are combinable and/or interchangeable with one or more components of electromechanical surgical systems 10 described herein.

With reference to FIGS. 2 and 3, adapter assembly 200 includes a housing 202 at a proximal end portion thereof and an outer tube 204 that extends distally from housing 202 to a distal end portion 2040 thereof.

Turning now to FIGS. 4-9, housing 202 of adapter assembly 200 includes a proximal housing 202 a and a distal housing 202 b that support a firing trigger 205. Firing trigger 205 includes a trigger contact surface 205 a and is slidably disposed in proximal housing 202 a. Proximal housing 202 a includes a housing body 206 defining a central slot 206 a therethrough and having a distal lip 206 b extending radially outwardly therefrom. Housing body 206 supports a mounting assembly 210 thereon and includes an elongate tongue 208 extending distally therefrom that defines an elongate channel 208 a that slidably receives firing trigger 205.

Mounting assembly 210 is supported on housing body 206 and includes a shaft 212 that extends outwardly from housing body 206, a spring 214 that is supported about an outer surface of shaft 212, and a mounting button 216 that engages spring 214 and shaft 212. Spring 214 contacts a bottom surface of mounting button 216 to bias mounting button 216 upwardly to an extended position spaced from housing body 206. Spring 214 is sufficiently compressible to enable mounting button 216 to be depressed downwardly from the extended position to a compressed position. In the compressed position, mounting button 216 is disposed in close approximation with housing body 206 and offset from the extended position. Mounting button 216 includes sloped engagement features 216 a that are configured to contact connection portion 104 a (FIG. 1A) of handle housing 102 while mounting button 216 is in the extended position to facilitate securement of housing 202 to connection portion 104 of handle housing 102.

As seen in FIGS. 4 and 5, distal housing 206 b includes a first half-section 218 a and a second half-section 218 b. First half-section 218 a includes a plurality of pins 220 extending therefrom and second half-section 218 b defines a plurality of bores 222 adapted to receive the plurality of pins 220 of first half-section 218 a to mate the first and second half-sections 218 a, 218 b together. Each of first and second half-sections 218 a, 218 b defines an internal lip receiving annular recess 224 adapted to receive a portion of distal lip 206 b of proximal housing 202 a to facilitate securement of proximal and distal housings 202 a, 202 b. Each of first and second half-sections 218 a, 218 b defines an articulation-assembly-receiving recess 226 that is in communication with an outer-tube-receiving channel 228. Each outer-tube-receiving channel 228 is defined through a distal end of one of first and second half-sections 218 a, 218 b.

An articulation assembly 230 is supported within housing 202 and outer tube 204. Articulation assembly 230 includes a pair of sleeve assemblies 240 a, 240 b at a proximal end thereof and a gimbal 250 at a distal end thereof. The pair of sleeve assemblies 240 a, 240 b and gimbal 250 is connected by a plurality of cables 260. As depicted in FIG. 6, and described in greater detail below, the plurality of cables 260 includes a first cable 260 a, a second cable 260 b, a third cable 260 c, and a fourth cable 260 d.

With reference to FIGS. 6-8, each of the pair of sleeve assemblies 240 a, 240 b includes a support shaft 242, a threaded screw assembly 244, a bearing block 245, and a pair of threaded sleeves 246, 248.

As seen in FIG. 4, support shaft 242 includes a proximal portion 242 a received in central slot 206 a (see FIG. 5) of proximal housing 202 a. Proximal portion 242 a defines a threaded bore 242 b therein. Each threaded bore 242 b receives therein a screw 243 that is advanced through a screw passage 203 defined in proximal housing 202 a to facilitate securement of articulation assembly 230 to proximal housing 202 a. Support shaft 242 further includes a distal portion 242 c that extends distally from proximal portion 242 a.

With reference to FIG. 5, each screw 243 can function as a cable tensioner to adjust overall slack in one or more of the plurality of cables 260 as depicted by axial lines of translation “A1” and “A2” of the pair of sleeve assemblies 240 a, 240 b and by rotational arrows “B1” and “B2” of screws 243. For example, with reference again to FIG. 4, the pair of sleeve assemblies 240 a, 240 b are disposed in offset longitudinal relationship with respect to each other (e.g., compare relative longitudinal relationship between bearing blocks 245 and/or distal ends of threaded screw assemblies 244) to depict differences in slack adjustment in each sleeve assembly 240 a, 240 b. In embodiments, slack adjustments of one of the pair of sleeve assemblies 240 a, 240 b can be different and/or the same as the other of the pair of sleeve assemblies 240 a, 240 b, and likewise can be further adjusted as necessary to achieve a desired cable slack in one or more of the plurality of cables 260. In particular, tightening and/or loosening rotation of screw 243 relative to one of threaded bores 242 b approximates and/or separates screw 243 relative to support shaft 242 to axially move one or both of the pair of sleeve assemblies 240 a, 240 b (proximally and/or distally) to adjust tension in one or more of the plurality of cables 260. In embodiments, tightening of one or both screws 243 draws one or both of the pair of sleeve assemblies 240 a, 240 b proximally, and loosening of one or both screws distally advances one or both of the pair of sleeve assemblies 240 a, 240 b. In some embodiments, loosening of one or both screws 243 draws one or both of the pair of sleeve assemblies 240 a, 240 b proximally, and tightening of one or both screws distally advances one or both of the pair of sleeve assemblies 240 a, 240 b. As can be appreciated, each screw 243 can be independently and/or dependently rotatable (e.g., tightening rotation, loosening rotation, clockwise rotation, and/or counterclockwise rotation) with respect to the other screw 243.

Threaded screw assembly 244 includes a threaded screw 244 a extending distally from an input socket 244 b with a distal end of input socket 244 b being mechanically coupled to a proximal end of threaded screw 244 a. Each input socket 244 b is configured to engage one of the plurality of rotatable drive shafts 106 of handle housing 102. For example, input socket 244 b of sleeve assembly 240 b can be mechanically coupled to rotatable drive shaft 106 a and input socket 244 b of sleeve assembly 240 a can be mechanically coupled to rotatable drive shaft 106 c.

Threaded screw 244 a includes a first thread 244 c and a second thread 244 d that are threaded in opposite directions. For example, first thread 244 c can be a left-hand thread and second thread 244 d can be a right-hand thread, and vice versa. In embodiments, first and second threads 244 c, 244 d have the same thread pitch. Threaded screw 244 a can include a third thread 244 e. Third thread 244 e can be either right or left handed and can have the same and/or different pitch as the first and/or second threads 244 c, 244 d. As can be appreciated, any of first, second, or third threads 244 c, 244 d, 244 e can have any suitable shape, dimension, and/or configuration. With reference to FIG. 4, threaded screw 244 includes a retaining member 244 f extending from an outer surface thereof. Retaining member 244 f can have a plurality of opposed sections. In some embodiments, retaining member 244 f is an annular lip.

As seen in FIG. 8, bearing block 245 is mounted on proximal end portion of support shaft 242 and on threaded screw assembly 244. Bearing block 245 includes distal plate 245 a and a proximal plate 245 b that are secured together by a pair of fasteners 245 c, 245 d. With reference also to FIG. 4, distal and proximal plates 245 a, 245 b define first and second channels 245 e, 245 f therethrough. First channel 245 e receives a proximal portion of threaded screw 244 and encloses retaining member 244 f and a thrust bearing 247. Second channel 245 f receives support shaft 242, which can be fixedly secured therein to facilitate axial advancement of one of the pair of sleeve assemblies 240 a, 240 b upon rotation of screws 243 as described above. As can be appreciated, bearing block 245 of sleeve assembly 240 a is a mirror image of bearing block 245 of sleeve assembly 240 b.

Referring to FIGS. 7 and 8, each of the pair of threaded sleeves 246, 248 has an L-shaped profile. As illustrated in FIG. 9, threaded sleeve 246 defines first and second bores 246 a, 246 b therethrough with first bore 246 a being threaded and second bore 246 b being smooth. Similarly, threaded sleeve 248 defines first and second bores 248 a, 248 b therethrough with first bore 248 a being threaded and second bore 248 b being smooth. Each of the pair of sleeve assemblies 240 a, 240 b is arranged so that threaded bores 246 a, 248 a receive threaded screw 244 a such that first thread 244 c threadably engages threaded bore 246 a and such that second thread 244 d threadably engages threaded bore 248 a. Each of the pair of sleeve assemblies 240 a, 240 b is also arranged so that smooth bores 246 b, 248 b of threaded sleeves 246, 248 receive distal portion 242 c of support shaft 242 such that threaded sleeves 246, 248 move axially along distal portion 242 c of support shaft 242. In embodiments, threaded sleeve 246 of sleeve assembly 240 a can be disposed in mirrored relation with threaded sleeve 246 of sleeve assembly 240 b. As seen in FIG. 8, each of the pair of threaded sleeves 246, 248 define shaft-receiving channels 246 c, 248 c and cable-receiving channels 246 d, 248 d in side surfaces thereof. Each of the pair of threaded sleeves 246, 248 is coupled to one of the plurality of cables 260 by a cable ferrule 262 connected to a proximal end of each of the plurality of cables 260. Cable-receiving channels 246 d, 248 d receive cable ferrule 262 of one of the plurality of cables 260 therein to secure one of the plurality of cables 260 to each of the pair of threaded sleeves 246, 248.

With reference to FIGS. 10-13, each of the plurality of cables 260 extends distally to a retaining ball 262 (see FIG. 13) to secure the distal end of the first, second, third, and fourth cables 260 a-260 d to gimbal 250. Each opposite pair of the plurality of cables 260 can have two cables that are secured to gimbal 250 at locations 180 degrees apart (e.g., first and fourth cables 260 a, 260 d or second and third cables 260 b, 260 c).

As seen in FIG. 6, each opposite pair of the plurality of cables 260 has proximal ends that connect to the pair of threaded sleeves 246, 248 on the same threaded screw 244. Thus, the proximal end of the first and fourth cables 260 a, 260 d connect to one threaded screw 244, and the proximal end of the second and third cables 260 b, 260 c connect to the other threaded screw 244. It is contemplated that one or more of the plurality of cables can criss-cross within outer tube 204.

Referring again to FIGS. 10-13, gimbal 250 has a proximal portion 250 a with a generally rounded shape and a distal portion 250 b extending from proximal portion 250 a. Proximal portion 250 a defines a plurality of ball-retaining slots 252 (e.g., four) in a distal outer surface thereof so that each ball-retaining slot of the plurality of ball-retaining slots 252 is dimensioned to receive one of retaining balls 262 of the plurality of cables 260 to secure each of the plurality of cables 260 to gimbal 250.

Proximal portion 250 a of gimbal 250 includes a plurality of spaced apart wings 254 that extend from an outer surface thereof. Each wing of the plurality of spaced-apart wings 254 includes a top surface 254 a and side surfaces 254 b. Side surfaces 254 b of adjacent wings of the plurality of spaced-apart wings 254 define a plurality of slots 256 about the outer surface of proximal portion 250 a. The plurality of slots 256, which are configured to receive the plurality of cables 260, are in communication with the plurality of ball-retaining slots 252 and extend proximally therefrom.

Distal portion 250 b of gimbal 250 includes a tubular shaft 251 having an upwardly depending flange 253 extending from an outer surface of tubular shaft 251. Upwardly depending flange 253 defines a pair of arcuate side channels 253 a, 253 b in side surfaces thereof. The pair of arcuate side channels 253 a, 253 b form a pair of opposed teeth 253 c, 253 d that extend from side surfaces of flange 253. Proximal and distal portions 250 a, 250 b of gimbal 250 define a gimbal bore 258 (see FIGS. 11-12) that extends therethrough and includes first section 258 a defined by inner surfaces of distal portion 250 b and a second section 258 b defined by inner surfaces of proximal portion 250 a.

Referring to FIG. 14, a firing assembly 270 is supported within housing 202 and outer tube 204 of adapter assembly 200. Firing assembly 270 includes an input socket 272 adapted to couple to rotatable drive shaft 106 b of housing handle 102 (see FIG. 1A), a proximal firing shaft 274 extending distally from input socket 272, a distal firing shaft 276 extending distally from proximal firing shaft 274, and a pin 278 that secures proximal and distal firing shafts 274, 276 together within gimbal bore 258.

With continued reference to FIG. 14, a housing bearing member 280 supports a proximal end of proximal firing shaft 274 within proximal housing 202 a, and proximal and distal mounting members 282, 284 support a distal end of proximal firing shaft 274 within outer tube 204. Housing bearing member 280 includes a thrust bearing 282 that receives proximal firing shaft 274 therethrough to enable proximal firing shaft 274 to rotate. Proximal mounting member 282 defines a central passage 282 a therethrough that receives the proximal firing shaft 274.

As seen in FIGS. 10, 15, and 16, distal mounting member 284 includes a proximal section 284 a and a distal section 284 b. Proximal section 284 a defines a pair of screw openings 284 c therethrough with each of the pair of screw openings 284 c being disposed on opposed top and bottom surfaces of proximal section 284 a. Similarly, distal section 284 b of distal mounting member 284 defines a pair of screw openings 284 d therethrough with each of the pair of screw openings 284 d being disposed on opposed top and bottom surfaces of distal section 284 b. Distal section 284 b of distal mounting member 284 further includes an inner surface 284 e that defines a hemispherical opening 284 f that receives proximal portion 250 a of gimbal 250 to enable gimbal 250 to articulate omni-directionally therein.

Referring again to FIG. 14, the proximal end of proximal firing shaft 274 is received in a distal end of input socket 272, and the distal end of proximal firing shaft 274 includes a coupling member 274 a. As seen in FIG. 10, coupling member 274 a defines an elongate top slot 274 b therethrough and a side slot 274 c therethrough that is disposed transverse to top slot 274 b. Elongate top slot 274 b receives pin 278 and side slot 274 c receives a pin coupling 290 defining a pin bore 292 therein that receives pin 278.

With continued reference to FIGS. 10 and 14-16, distal firing shaft 276 includes a proximal portion 276 a having a hemispherical shape, a central shaft 276 b extending distally from a distal end of proximal portion 276 a, and a distal tip 276 c extending distally from a distal end of central shaft 276 b. Proximal portion 276 a of distal firing shaft 276 defines a pin channel 276 d that extends therethrough. Proximal portion 276 a of distal firing shaft 276 has an inner surface that defines a hemispherical opening 276 e adapted to receive coupling member 274 a of proximal firing shaft 274. Central shaft 276 b defines a ledge 276 f that is recessed from a top surface of central shaft 276 b.

As seen in FIGS. 3, 10, 15 and 16, distal end portion 2040 of outer tube 204 includes a first segment 2042, a second segment 2044, a third segment 2046, and a fourth segment 2048.

First segment 2042 of distal end portion 2040 of outer tube 204 defines a pair of screw openings 2042 a, 2042 b that correspond with the pair of screw openings 284 c of distal mounting member 284. The pair of screw openings 2042 a, 2042 b of first segment 2042 and the pair of screw openings 284 c of distal mounting member 284 receive a pair of screws 204 a, 204 b to secure proximal section 284 a of distal mounting member 284 within an opening 2042 c defined within a distal end of first segment 2042.

Second segment 2044 of distal end portion 2040 of outer tube 204 includes a proximal section 2044 a, and a distal section 2044 b that extends from proximal section 2044 a. Second segment 2044 defines a central opening 2044 c that extends through proximal and distal sections 2044 a, 2044 b. Proximal section 2044 a defines a pair of screw openings 2044 d therethrough with each of the pair of screw openings 2044 d being disposed on opposed top and bottom surfaces of proximal section 2044 a. The pair of screw openings 2044 d of second segment 2044 corresponds with the pair of screw openings 284 d of distal mounting member 284 so that a pair of screws 204 c, 204 d secures second segment 2044 over distal section 284 b of distal mounting member 284. Distal section 2044 b defines pin opening 2044 e. Pin opening 2044 e can be aligned with pin channel 276 d of distal firing shaft 276 to enable pin 278 to be advanced therethrough for securement within pin coupling 290.

Third segment 2046 of distal end portion 2040 of outer tube 204 has a cylindrical body 2046 a that mounts over distal section 2044 b of second segment 2044 and covers pin opening 2044 e thereof. Third segment 2046 includes a U-shaped shoe 2046 b that extends distally from a distal surface of cylindrical body 2046 a. A central channel 2046 c is defined through U-shaped shoe 2046 b and cylindrical body 2046 a, and is configured to receive distal portion 250 b of gimbal 250.

Fourth segment 2048 of distal end portion 2040 of outer tube 204 includes a pair of arms 2048 a, 2048 b that extends from fourth segment 2048. The pair of arms 2048 a, 2048 b are disposed in spaced apart and mirrored relation to one another. A pair of screw openings 2048 c, 2048 d is defined in fourth segment 2048 and are aligned with a pair of screw bores 2046 d, 2046 e defined within third segment 2046 so that a pair of screws 204 e, 204 f can be received by the pair of screw openings 2048 c, 2048 d of the fourth segment 2048 and the pair of screw bores 2046 d, 2046 e of the third segment 2046 to secure third and fourth segments 2046, 2048 together. Fourth segment 2048 defines a plunger opening 2048 e that receives a plunger assembly 2060 of distal end portion 2040 of outer tube 204.

Plunger assembly 2060 includes a plunger 2060 a that is biased through plunger opening 2048 e by a spring 2060 b (see FIG. 15). Plunger assembly 2060 and the pair of arms 2048 a, 2048 b cooperate to facilitate securement of the proximal end of loading unit 300 to distal end portion 2040 as described in greater detail below (see FIGS. 18A and 18B).

As illustrated in FIG. 10, a tongue 2048 f depends from fourth segment 2048 and defines an opening 2048 f therethrough that receives distal tip 276 c of distal firing shaft 276 therethrough. Tongue 2048 f supports a gear 2050 between a proximal surface of tongue 2048 f and a distal surface of U-shaped shoe 2046 b of third segment 2046 so that teeth 2050 a extending from gear 2050 are positioned between mating surfaces 2048 h of each of the pair of arms 2048 a, 2048 b of fourth segment 2048 of distal end portion 2040 of outer tube 204.

Inner surfaces of gear 2050 define a channel 2050 b therethrough. Inner surfaces of gear 2050 include a flat surface 2050 c (see FIG. 15) that is supported on ledge 276 f of distal firing shaft 276.

Turning now to FIG. 17, loading unit 300 includes anvil 310 and cartridge assembly 320 that are pinned together by a pair of pins 315 a, 315 b and movable between open and closed conditions. Anvil 310 and cartridge assembly 320 cooperate to apply a plurality of linear rows of fasteners “F” (e.g., staples). In certain embodiments, the fasteners are of various sizes, and, in certain embodiments, the fasteners have various lengths or rows, e.g., about 30, 45 and 60 mm in length.

Cartridge assembly 320 includes a base 322 secured to a mounting portion 324, a frame portion 326, and a cartridge portion 328 defining a plurality of fastener retaining slots 328 a and a knife slot 328 b in a tissue engaging surface thereof. Mounting portion 324 has mating surfaces 324 a, 324 b on a proximal end thereof and defines a receiving channel 324 c therein that supports frame portion 326, cartridge portion 328, and a fastener firing assembly 330 therein. Cartridge assembly 320 supports a biasing member 340 that engages anvil 310.

Fastener firing assembly 330 includes an electrical contact member 332 in electrical communication with circuit board of surgical device 100 (FIG. 1A), a bearing member 334, a gear member 336 that engages gear 2050 of distal end portion 2040 of outer tube 204, and a screw assembly 338. Screw assembly 338 includes a lead screw 338 a, a drive beam 338 b, and an actuation sled 338 c that is engagable with a plurality of pusher members 338 d.

Cartridge assembly 320 also supports a pair of plunger assemblies 350 a, 350 b. Each of the pair of plunger assemblies 350 a, 350 b includes a spring 352, a plunger 354, and a pin 356 that secures each plunger assembly to mounting portion 324. Plunger assemblies 350 a, 350 b cooperate with the proximal end of cartridge portion 328 to facilitate securement of cartridge portion 328 within mounting portion 324.

In order to secure the proximal end of loading unit 300 to distal end portion 2040 of outer tube 204, the proximal end of loading unit 300 is aligned with distal end portion 2040 of outer tube 204 as seen in FIG. 18A so that the proximal end of loading unit 300 can be snapped together with distal end portion 2040 as seen in FIG. 18A. Referring also to FIGS. 10 and 17, mating surfaces 324 a, 324 b of loading unit 300 engage with mating surfaces 2048 h of fourth segment 2048 so that the teeth of gear member 336 of loading unit 300 enmesh with the teeth of gear 2050.

In operation, depression of articulating pad 108 contacts one more of the plurality of sensors 108 a to electrically communicate with the circuit board, activate one or both of rotatable drive shafts 106 a, 106 c (due to an actuation of a motor (not shown) within handle housing 102), and effectuate rotation of threaded screw assembly 244 of one or both of the pair of sleeve assemblies 240 a, 240 b. In particular, rotation of each threaded screw assembly 244 is effectuated by virtue of rotational engagement between input socket 244 b of one of the pair of sleeve assemblies 240 a, 240 b and one of rotatable drive shafts 106 a, 106 c. Rotation of threaded screw 244 a axially moves the pair of threaded sleeves 246, 248 along the respective support shaft between an approximated condition (see FIG. 9) and a separated condition (see FIG. 4), as illustrated by lines “C1,” “C2,” “C3,” and “C4” shown in FIG. 7. Relative axial movement of the pair of threaded sleeves 246, 248 proximally draws/retracts/tightens one/a first cable of one of the opposite pairs of cables (e.g., first cable 260 a and fourth cable 260 d being a first opposite pair of cables, and second cable 260 b and third cable 260 c being a second opposite pair of cables) of the plurality of cables 260 and distally lets out/extends/releases another/a second cable of one of the opposite pairs of cables to rotate/pivot/articulate gimbal 250. As gimbal 250 rotates, distal portion 250 b of gimbal 250 engages cylindrical body 2046 a and/or U-shaped shoe 2046 b of third segment 2046 to articulate distal end portion 2040 relative to outer tube 204 about longitudinal axis “X.” Movement of distal end portion 2040 articulates loading unit 300 relative to outer tube 204 about longitudinal axis “X” in any direction (e.g., omni-directionally) as seen in FIGS. 19-21. More particularly, while longitudinally fixed to the distal end of outer tube 204 (and first and second segments 2042, 2044 of distal end portion 2040), loading unit 300 (and third and fourth segments 2046, 2048 of distal end portion 2040) can be articulated in any direction relative to “X,” “Y,” and/or “Z” axes that extend from a central point “P” defined in the distal end portion 2040 to position loading unit 300 at any desired orientation.

Tension/slack in one or more of the plurality of cables 260 may need to be adjusted, for example, before, during, and/or after one or more uses of system 10. To effectuate a tightening and/or loosening of slack/tension, one or both actuators 107 a, 107 b (see FIG. 1A), can be actuated to impart rotational movement to one or both of rotatable drive members 106 d, 106 e. With rotatable drive members 106 d, 106 e in engagement with proximal ends of screws 243, rotation of rotatable drive members 106 d, 106 e causes one or both of screws 243 to rotate. Rotation of one or both screws 243 adjusts tension in one or more of the plurality of cables 260 by moving one or both of the plurality of the pair of sleeve assemblies 240 a, 240 b as described above.

To fire the plurality of fasteners “F,” firing trigger 205 of adapter assembly 200 is actuated so that trigger contact surface 205 a contacts trigger contact surface 105 of handle housing 102 to rotate rotatable drive member 106 b (due to an activation of a motor (not shown) within handle housing 102). Rotation of rotatable drive member 106 b causes proximal firing shaft 274 to rotate with distal firing shaft 276 about longitudinal axis “X” such that gear 2050 rotates gear 336 of loading unit 300. Rotation of gear 336 rotates lead screw 338 a and enables drive beam 338 a to axially advance along lead screw 338 a and through longitudinal knife slot 328 b by virtue of the threaded engagement between lead screw 338 a and drive beam 338 a. Drive beam 338 a engages anvil 310 to maintain anvil and cartridge assembly 310, 320 in approximation. Distal advancement of drive beam 338 b advances actuation sled 338 c into engagement with the plurality of pusher members 328 and fires the plurality of fasteners “F” from the plurality of fastener retention slots 328 a for forming against corresponding fastener forming pockets defined within anvil 310. Loading unit 300 can be reset and fastener cartridge 328 can be replaced so that loading unit 300 can then be re-fired as desired.

Turning now to FIG. 22, a proximal portion of another embodiment of an adapter assembly is provided and generally referred to as 400. Adapter assembly 400 is substantially similar to adapter assembly 200 and is only described herein to the extent necessary to describe the differences in construction and operation thereof. Adapter assembly 400 includes a proximal housing assembly 402, a distal housing assembly 404, an outer tube 406, a firing shaft assembly 407, an articulation assembly 408, and a trigger assembly 410. Proximal housing assembly 402 includes a proximal housing 402 a, a release button 402 b, and a pair of screws 402 c that couple to the articulation assembly 400. Distal housing assembly 404 includes a first-half section 404 a and a second-half section 404 b that couple to proximal housing assembly 402 and support a proximal portion of articulation assembly 408.

Trigger assembly 410 includes a trigger 412 with a magnetic area 412 a, support tube 414, a switch assembly 416, and a hall effect switch (PCB) 418. Switch assembly 416 includes a pair of tactile domes 416 a, a pair of inner springs 416 b, a pair of plungers 416 c, and a pair of outer springs 416 d. The pairs of inner and outer springs 416 b, 416 d cooperate with the pair of plungers 416 c to bias trigger 410 to a centered position (see FIG. 23). As illustrated by line “D,” trigger 412 is axially movably supported within distal and proximal housings 402, 404 and actuatable to move magnetic area 412 a of trigger 412. The pair of tactile domes 416 a is configured to provide an audible click as the pair of plungers 416 c contact the pair of tactile domes 416 a to indicate an end of trigger travel.

In operation, movement of magnetic area 412 a of trigger 412 relative to Hall Effect switch 418 creates a magnetic field and generates an electrical signal that communicates with the circuit board of surgical instrument 100 to activate rotatable drive member 106 b of surgical instrument 100. Rotation of rotatable drive member 106 b rotates firing shaft assembly 407 to fire loading unit 300 as describe above.

Any of the components described herein may be fabricated from either metals, plastics, resins, composites or the like taking into consideration strength, durability, wearability, weight, resistance to corrosion, ease of manufacturing, cost of manufacturing, and the like.

In embodiments, any of the components described herein, such as the end effector and/or adapter, can include one or more microchips, such as, for example a one-wire microchip (e.g., microchip model nos. DS2465, DS28E15, and/or DS2432, available from MAXIM INTEGRATED™, San Jose, Calif.) that electrically couple to the circuit board/controller of surgical device 100. Exemplary one-wire microchips are shown and described in U.S. Pat. No. 6,239,732, the entire content of which is incorporated herein by reference. Any of these chips can include encrypted authentication (e.g., SULU ID) and/or may be one wire compatible.

Persons skilled in the art will understand that the structures and methods specifically described herein and shown in the accompanying figures are non-limiting exemplary embodiments, and that the description, disclosure, and figures should be construed merely as exemplary of particular embodiments. It is to be understood, therefore, that the present disclosure is not limited to the precise embodiments described, and that various other changes and modifications may be effected by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, the elements and features shown or described in connection with certain embodiments may be combined with the elements and features of certain other embodiments without departing from the scope of the present disclosure, and that such modifications and variations are also included within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not limited by what has been particularly shown and described. 

What is claimed is:
 1. An adapter assembly for selectively interconnecting a surgical loading unit that is configured to perform a function and a surgical device that is configured to actuate the surgical loading unit, the surgical loading unit including an axially translatable drive member, and the surgical device including a plurality of rotatable drive shafts, the adapter assembly comprising: a housing configured and adapted for connection with the surgical device and to be in operative communication with each rotatable drive shaft of the plurality of rotatable drive shafts of the surgical device; an outer tube having a proximal end supported by the housing and a distal end configured and adapted for connection with the surgical loading unit, wherein the distal end of the outer tube is in operative communication with the axially translatable drive member of the surgical loading unit, the outer tube defining a longitudinal axis; and an articulation assembly including a gimbal supported in the outer tube and a plurality of threaded sleeves supported in the housing, the plurality of threaded sleeves coupled to the gimbal by at least one cable, wherein rotation of at least one of the plurality of rotatable drive shafts of the surgical device translates at least two of the plurality of threaded sleeves to omni-directionally articulate the gimbal relative to the longitudinal axis of the outer tube with the at least one cable, and wherein articulation of the gimbal articulates the surgical loading unit about the distal end of the outer tube.
 2. The adapter assembly of claim 1, further including a firing shaft having a proximal end configured and adapted to couple to at least one of the plurality of rotatable drive shafts of the surgical device and a distal end configured and adapted to couple to the axially translatable drive member of the surgical loading unit to enable firing of the surgical loading unit.
 3. The adapter assembly of claim 2, wherein the firing shaft is configured and adapted to transmit a rotational force through the gimbal to effectuate axially translation of the axially translatable drive member and fire the surgical loading unit.
 4. The adapter assembly of claim 3, wherein the firing shaft includes a proximal firing shaft and a distal firing shaft, the proximal and distal firing shafts coupled together within the gimbal such that the distal firing shaft is movable relative to the proximal firing shaft.
 5. The adapter assembly of claim 4, wherein the proximal firing shaft includes a ball member on a distal end thereof and the distal firing shaft includes a socket on a proximal end thereof, the socket defining a socket bore, the ball member of the proximal firing shaft being mounted within the socket bore.
 6. The adapter assembly of claim 5, wherein the gimbal defines a gimbal bore therethrough configured and adapted to receive the distal firing shaft such that the gimbal and the distal firing shaft are movable about an outer surface of the ball member.
 7. The adapter assembly of claim 1, wherein the gimbal defines at least one slot in an outer surface thereof, the at least one cable being secured within the at least one slot.
 8. The adapter assembly of claim 1, wherein the outer tube includes a distal housing assembly configured and adapted to engage a proximal end of the surgical loading unit, and the gimbal includes a distal flange configured and adapted to engage the distal housing assembly to enable the surgical loading unit to articulate in response to movement of the gimbal.
 9. The adapter assembly of claim 1, wherein the plurality of threaded sleeves is supported on at least one threaded screw.
 10. The adapter assembly of claim 9, wherein the at least one threaded screw includes a first set of threads and a second set of threads, the first and second set of threads being threaded in opposite directions, wherein a first one of the plurality of threaded sleeves is threadably engaged with the first set of threads and a second one of the plurality of threaded sleeves is threadably engaged with the second set of threads, wherein rotation of the at least one threaded screw in a first rotational direction approximates the first one and the second one of the plurality of threaded sleeves, and wherein rotation of the at least one threaded screw in a second rotational direction separates the first one and the second one of the plurality of threaded sleeves.
 11. The adapter assembly of claim 1, further including a firing trigger secured to the housing.
 12. An electromechanical surgical system, comprising: a surgical loading unit including at least one axially translatable drive member; a handle-held electromechanical surgical device including: a housing; and at least one rotatable drive shaft supported in the housing; and an adapter assembly selectively connectable between the housing of the surgical device and the surgical loading unit, the adapter assembly including: an articulation assembly including a gimbal and a plurality of threaded sleeves, the plurality of threaded sleeves coupled to the gimbal by at least one cable, the plurality of threaded sleeves being movable to articulate the gimbal with the at least one cable, wherein articulation of the gimbal articulates the surgical loading unit; and a firing shaft connectable between the at least one rotatable drive shaft of the surgical device and the at least one axially translatable drive member, the firing shaft being movable with the gimbal to omni-directionally articulate the surgical loading unit and rotatable to translate the at least one axially translatable drive member through the surgical loading unit.
 13. The electromechanical surgical system of claim 12, wherein the firing shaft includes a proximal firing shaft and a distal firing shaft, the proximal and distal firing shafts coupled together within the gimbal such that the distal firing shaft is movable relative to the proximal firing shaft.
 14. The electromechanical surgical system of claim 13, wherein the proximal firing shaft includes a ball member on a distal end thereof and the distal firing shaft includes a socket on a proximal end thereof, the socket defining a socket bore, the ball member of the proximal firing shaft being mounted within the socket bore.
 15. The electromechanical surgical system of claim 14, wherein the gimbal defines a gimbal bore therethrough configured and adapted to receive the distal firing shaft such that the gimbal and the distal firing shaft are movable about an outer surface of the ball member.
 16. The electromechanical surgical system of claim 12, wherein the gimbal defines at least one slot in an outer surface thereof, the at least one cable being secured within the at least one slot.
 17. The electromechanical surgical system of claim 12, wherein the gimbal includes a distal flange configured and adapted to enable the surgical loading unit to articulate in response to movement of the gimbal.
 18. The adapter assembly of claim 12, wherein the plurality of threaded sleeves is supported on at least one threaded screw.
 19. The adapter assembly of claim 18, wherein the at least one threaded screw includes a first set of threads and a second set of threads, the first and second set of threads being threaded in opposite directions, wherein a first one of the plurality of threaded sleeves is threadably engaged with the first set of threads and a second one of the plurality of threaded sleeves is threadably engaged with the second set of threads, wherein rotation of the at least one threaded screw in a first rotational direction approximates the first one and the second one of the plurality of threaded sleeves, and wherein rotation of the at least one threaded screw in a second rotational direction separates the first one and the second one of the plurality of threaded sleeves.
 20. The adapter assembly of claim 12, wherein a firing trigger is secured to the adapter assembly.
 21. A method of articulating a surgical loading unit operatively coupled to a surgical device by an adapter, the method comprising: rotating at least one rotatable drive shaft of the surgical device to rotate at least one threaded screw supported within the adapter and axially translate a plurality of threaded sleeves along the at least one threaded screw; translating a plurality of cables secured between the plurality of threaded sleeves and a gimbal; and articulating the gimbal with the plurality of cables to articulate the surgical loading unit relative to adapter.
 22. The method of claim 21, further including rotating a firing shaft to fire the surgical loading unit.
 23. The method of claim 1, further including firing a firing trigger secured to the adapter. 